{
  "cells": [
    {
      "cell_type": "markdown",
      "id": "f4c73cc1",
      "metadata": {},
      "source": [
        "# LinearContainerFactor\n",
        "\n",
        "## Overview\n",
        "\n",
        "The `LinearContainerFactor` class in GTSAM is a specialized factor that encapsulates a linear factor within a nonlinear factor graph. This is used extensively when marginalizing out variables.\n",
        "\n",
        "## Key Features\n",
        "\n",
        "- **Encapsulation of Linear Factors**: The primary function of the `LinearContainerFactor` is to store a linear factor and its associated values, enabling it to be used within a nonlinear context.\n",
        "- **Error Calculation**: It provides mechanisms to compute the error of the factor given a set of values.\n",
        "- **Jacobian Computation**: The class can compute the Jacobian matrix, which is essential for optimization processes.\n",
        "\n",
        "## Key Methods\n",
        "\n",
        "- **LinearContainerFactor**: This constructor initializes the `LinearContainerFactor` with a linear factor and optionally with values. It serves as the entry point for creating an instance of this class."
      ]
    },
    {
      "cell_type": "markdown",
      "id": "colab_button",
      "metadata": {},
      "source": [
        "<a href=\"https://colab.research.google.com/github/borglab/gtsam/blob/develop/gtsam/nonlinear/doc/LinearContainerFactor.ipynb\" target=\"_parent\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/></a>"
      ]
    },
    {
      "cell_type": "markdown",
      "id": "license_cell",
      "metadata": {
        "tags": [
          "remove-cell"
        ]
      },
      "source": [
        "GTSAM Copyright 2010-2022, Georgia Tech Research Corporation,\nAtlanta, Georgia 30332-0415\nAll Rights Reserved\n\nAuthors: Frank Dellaert, et al. (see THANKS for the full author list)\n\nSee LICENSE for the license information"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "id": "colab_import",
      "metadata": {
        "tags": [
          "remove-cell"
        ]
      },
      "outputs": [],
      "source": [
        "try:\n    import google.colab\n    %pip install --quiet gtsam-develop\nexcept ImportError:\n    pass"
      ]
    }
  ],
  "metadata": {
    "language_info": {
      "name": "python"
    }
  },
  "nbformat": 4,
  "nbformat_minor": 5
}